Daniel Agar
c8738e3a0d
ekf2: mag control cleanup mag reset
2023-07-24 09:52:52 +02:00
bresch
1128ada90a
ekf2: use correct AlphaFilter for 3D rotations
2023-07-17 13:43:18 +02:00
bresch
672b29d555
ekf2: report dist bottom also when using flow for terrain
...
Terrain height can be estimated using a range finder and/or optical flow
2023-07-11 08:18:32 -07:00
alexklimaj
03528a6200
Add EKF2_OF_QMIN_GND to handle 0 optical flow quality when on ground
2023-07-11 08:18:06 -07:00
alexklimaj
bca0be47bc
Apply code review changes from @dagar
2023-07-11 08:18:06 -07:00
Eric Katzfey
9511248514
Removed the huge HAGL fuse timeout increase
2023-07-11 08:18:06 -07:00
Eric Katzfey
f5d9ac4526
Cleaned up some comments and debug code
2023-07-11 08:18:06 -07:00
mjturi-mai
56c794108d
actual fixes for velocity estimate errors and bad rng fusion
2023-07-11 08:18:06 -07:00
Mathieu Bresciani
288e3ae74a
EKF2: vision attitude error filter ( #21791 )
...
* ekf2-ev: filter q_error for frame correction
* ekf2: filter EV attitude error centrally
2023-07-03 11:13:59 -04:00
bresch
eb70c9f6f3
ekf2: update auto-generated code to SymForce 0.9.0
2023-06-26 14:10:54 -04:00
bresch
fdf7867a3e
ekf2: update derivation to SymForce 0.9.0
2023-06-26 14:10:54 -04:00
Daniel Agar
d9ae2ed7ac
ekf2: regenerate yaw estimator symforce
...
- remove underscore uppercase variable naming that can be problematic
2023-06-19 21:00:25 -04:00
Mathieu Bresciani
24de623989
EKF2: Zero gyro update ( #21691 )
...
When at rest, directly fuse the gyro data as an observation of its bias.
This allows to strongly observe the gyro biases without having to fuse a
constant heading that makes the ekf too confident about its heading.
2023-06-09 21:13:18 -04:00
bresch
9d7abf2552
ekf2: symforce - use builtin Rot3 and Quaternion operations
2023-06-05 11:58:42 -04:00
Daniel Agar
6535cc758e
ekf2: fuse mag update last heading fuse time if updating all states
...
- handle synthetic z special case
2023-05-26 08:48:08 -06:00
bresch
521abecbbf
ekf2: remove all remaining uses of EKF2_AID_MASK
2023-04-28 22:31:17 -04:00
bresch
2a2e43b620
ekf2: move flow fusion activation from AID_MASK to OF_CTRL
2023-04-28 22:31:17 -04:00
bresch
39c2f95669
ekf2: move drag fusion activation from AID_MASK to DRAG_CTRL
2023-04-28 22:31:17 -04:00
bresch
17806a9608
ekf2: robustify wind init using airspeed
...
Tests showed that sideslip fusion often starts just before airspeed
fusion, resetting the wind states to 0 instead of using the airspeed
data. A quick look at the wind uncertainty allows to know if the current
wind estimate is meaningful or if we should rather reset it using the
airspeed data.
2023-04-08 14:12:21 +02:00
bresch
fb3b4a3151
ekf2: remove duplicate buffer push of system flags
2023-04-04 15:56:09 -04:00
bresch
ed7c4bc5d7
ekf2: init tilt using quaternion from gravity vector
2023-03-31 10:15:12 +02:00
bresch
3e3307c0d0
ekf2: fix mag declination innovation angle wrapping
2023-03-21 21:07:28 -04:00
Daniel Agar
32a5bd32ad
ekf2: add kconfig option to enable/disable range finder fusion (and terrain estimator)
2023-03-21 11:25:34 -04:00
Daniel Agar
0784901a66
ekf2: add kconfig option to enable/disable optical flow fusion
2023-03-21 11:25:34 -04:00
Matthias Grob
08d6465ce5
matrix: add explicit Vector4 type
2023-03-21 15:01:26 +01:00
Daniel Agar
4363b09421
ekf2: add kconfig option to enable/disable external vision fusion
2023-03-20 10:12:17 -04:00
Daniel Agar
d47f96f1a5
ekf2: add kconfig option to enable/disable AUX velocity fusion
2023-03-20 10:12:17 -04:00
Daniel Agar
4270a303ab
ekf2: add kconfig option to enable/disable airspeed and sideslip fusion
2023-03-20 10:12:17 -04:00
Daniel Agar
98ff1afc19
ekf2: add kconfig option to enable/disable GNSS yaw
2023-03-20 10:12:17 -04:00
Daniel Agar
8b2205810b
ekf2: add kconfig option to enable/disable baro compensation
2023-03-20 10:12:17 -04:00
Daniel Agar
fe0e3acf09
ekf2: add kconfig option to enable/disable drag fusion
2023-03-20 10:12:17 -04:00
Daniel Agar
19a2b4ec31
ekf2: GNSS yaw only reset test ratio for new samples
...
- otherwise external test ratio monitoring could trigger a false positive
2023-03-14 21:49:24 -04:00
bresch
fd33e60f78
ekf: fix GNSS yaw fusion wrapping
2023-03-13 10:46:34 +01:00
Daniel Agar
b3cc945a5a
ekf2: merge runOnGroundYawReset() + runInAirYawReset() into unified magReset()
2023-03-09 09:08:27 -05:00
Daniel Agar
c1f244a6fd
ekf2: decrease EKF2_MAG_YAWLIM default 0.25 -> 0.2 rad/s ( #21264 )
2023-03-09 09:07:54 -05:00
Daniel Agar
4dda5a97d8
ekf2: mag_3d check mag bias variance before allowed to update all states (orientation)
2023-03-08 15:12:48 -05:00
Daniel Agar
d45aeae1de
ekf2: add and share centralized method to clear inhibited state Kalman gains
2023-03-07 13:27:57 -05:00
Daniel Agar
3fac85369e
ekf2: gps control use adjusted velocity and position for reset
2023-03-06 09:03:39 -05:00
Daniel Agar
b5a6d6db0d
ekf2: fix controlEvYawFusion() yaw reset
2023-02-24 16:59:59 -05:00
Daniel Agar
98263de17b
ekf2: move aux vel helpers to auxvel_fusion.cpp
2023-02-22 09:08:33 -05:00
Daniel Agar
a199df78cc
ekf2: move mag control helpers to mag_control.cpp
2023-02-22 09:08:33 -05:00
Daniel Agar
c20e4e4421
ekf2: move stopFlowFusion() to optical_flow_control.cpp
2023-02-22 09:08:33 -05:00
Daniel Agar
3a317ec18c
ekf2: move gps helpers to gps_control.cpp
2023-02-22 09:08:33 -05:00
Daniel Agar
9ec3f30ae1
ekf2: move gps buffer pop to controlGpsFusion()
...
- controlGpsFusion() now owns yaw estimator update
2023-02-22 09:08:33 -05:00
Daniel Agar
a867bb7d88
ekf2: let controlAirDataFusion() update yaw estimator TAS
2023-02-22 09:08:33 -05:00
Daniel Agar
60856ebe62
ekf2: move range buffer pop to controlRangeHeightFusion()
2023-02-22 09:08:33 -05:00
Daniel Agar
08f111f694
ekf2: consolidate airspeed fusion logic and helpers
...
- pass new airspeed sample around when available
- can't completely eliminate _airspeed_sample_delayed until resetWind()
called from sideslip fusion is updated
2023-02-22 09:08:33 -05:00
Daniel Agar
241cee2bb7
ekf2: move airspeed buffer pop to controlAirDataFusion
2023-02-22 09:08:33 -05:00
Daniel Agar
0711a34d0e
ekf2: move flow buffer pop to controlOpticalFlowFusion
2023-02-22 09:08:33 -05:00
Daniel Agar
ed8cef6cf0
ekf2: move controlAuxVelFusion control.cpp -> auxvel_fusion.cpp
2023-02-22 09:08:33 -05:00
Daniel Agar